The applicability of employing a linear parameter-varying (LPV) control to an underwater vehicle is investigated and compared to that of using a linear time-invariant robust control. The underwater vehicle is first modeled into a polytopic-type LPV system with speed variation. Then LPV controllers based on output feedback are designed which achieve specified performances such as bounded L2-induced norm and closed-loop pole clustering constraints for frozen linear time-invariant models. A parameter-dependent weight is investigated in the LPV synthesis. It is shown that the designed controller performs well over the entire operating range by computer simulation.


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    Title :

    Depth control of an underwater vehicle using linear parameter-varying techniques


    Contributors:
    Gao, R. (author) / Kondo, E. (author) / Kajiwara, H. (author) / Koterayama, W. (author) / Nakamura, M. (author)


    Publication date :

    2003


    Size :

    8 Seiten, 14 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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